/**
  ******************************************************************************
  * File Name          : TIM.c
  * Description        : This file provides code for the configuration
  *                      of the TIM instances.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "tim.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim5;
TIM_HandleTypeDef htim8;

/* TIM1 init function */
void MX_TIM1_Init(void)
{
    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};
    TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

    htim1.Instance = TIM1;
    htim1.Init.Prescaler = 0;
    htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
    htim1.Init.Period = TIM_1_8_PERIOD_CLOCKS;
    htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim1.Init.RepetitionCounter = TIM_1_8_RCR;
    htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
    if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
    {
        Error_Handler();
    }
    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
    {
        Error_Handler();
    }
    if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
    {
        Error_Handler();
    }
    if (HAL_TIM_OC_Init(&htim1) != HAL_OK)
    {
        Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
    {
        Error_Handler();
    }
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
    sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
    if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
    {
        Error_Handler();
    }
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
    {
        Error_Handler();
    }
    sConfigOC.Pulse = 0;
    if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
    {
        Error_Handler();
    }
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = TIM_1_8_PERIOD_CLOCKS - 5;
    if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
    {
        Error_Handler();
    }
    sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
    sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
    sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
    sBreakDeadTimeConfig.DeadTime = TIM_1_8_DEADTIME_CLOCKS;
    sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
    sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
    sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
    if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
    {
        Error_Handler();
    }
    HAL_TIM_MspPostInit(&htim1);

}
/* TIM2 init function */
void MX_TIM2_Init(void)
{
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};

    htim2.Instance = TIM2;
    htim2.Init.Prescaler = 0;
    htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim2.Init.Period = TIM_APB1_PERIOD_CLOCKS;
    htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
    if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
    {
        Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
    {
        Error_Handler();
    }
    sConfigOC.OCMode = TIM_OCMODE_PWM2;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
    {
        Error_Handler();
    }
    sConfigOC.Pulse = TIM_APB1_PERIOD_CLOCKS+1;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
    {
        Error_Handler();
    }
    HAL_TIM_MspPostInit(&htim2);

}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
    TIM_Encoder_InitTypeDef sConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};

    htim3.Instance = TIM3;
    htim3.Init.Prescaler = 0;
    htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim3.Init.Period = M0_enc_cpr;
    htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
    sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC1Filter = 0;
    sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC2Filter = 0;

    if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
    {
        Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;

    if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
    {
        Error_Handler();
    }


}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
    TIM_Encoder_InitTypeDef sConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};

    htim4.Instance = TIM4;
    htim4.Init.Prescaler = 0;
    htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim4.Init.Period = M1_enc_cpr;
    htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
    sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC1Filter = 0;
    sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC2Filter = 0;
    if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
    {
        Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
    {
        Error_Handler();
    }

}

void MX_TIM5_Init(void)
{

    /* USER CODE BEGIN TIM5_Init 0 */

    /* USER CODE END TIM5_Init 0 */

    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};

    /* USER CODE BEGIN TIM5_Init 1 */

    /* USER CODE END TIM5_Init 1 */
    htim5.Instance = TIM5;
    htim5.Init.Prescaler = 167;
    htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim5.Init.Period = 1000;
    htim5.Init.RepetitionCounter = 10;
    htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
    if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
    {
        Error_Handler();
    }
    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
    {
        Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
    {
        Error_Handler();
    }

    HAL_TIM_Base_Start(&htim5);
    HAL_TIM_Base_Start_IT(&htim5);
}



/* TIM8 init function */
void MX_TIM8_Init(void)
{
    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};
    TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

    htim8.Instance = TIM8;
    htim8.Init.Prescaler = 0;
    htim8.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
    htim8.Init.Period = TIM_1_8_PERIOD_CLOCKS;
    htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim8.Init.RepetitionCounter = TIM_1_8_RCR;
    htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
    if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
    {
        Error_Handler();
    }
    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
    {
        Error_Handler();
    }
    if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
    {
        Error_Handler();
    }
    if (HAL_TIM_OC_Init(&htim8) != HAL_OK)
    {
        Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
    {
        Error_Handler();
    }
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
    sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
    if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
    {
        Error_Handler();
    }
    sConfigOC.Pulse = 0;
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
    {
        Error_Handler();
    }
    sConfigOC.Pulse = 0;
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
    {
        Error_Handler();
    }
    sConfigOC.Pulse = TIM_1_8_PERIOD_CLOCKS - 1;
    if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
    {
        Error_Handler();
    }
    sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
    sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
    sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
    sBreakDeadTimeConfig.DeadTime = TIM_1_8_DEADTIME_CLOCKS;
    sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
    sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
    sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
    if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
    {
        Error_Handler();
    }
    HAL_TIM_MspPostInit(&htim8);

}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{

    if(tim_baseHandle->Instance==TIM1)
    {
        /* USER CODE BEGIN TIM1_MspInit 0 */

        /* USER CODE END TIM1_MspInit 0 */
        /* TIM1 clock enable */
        __HAL_RCC_TIM1_CLK_ENABLE();
        /* USER CODE BEGIN TIM1_MspInit 1 */

        /* USER CODE END TIM1_MspInit 1 */
    }
    else if(tim_baseHandle->Instance==TIM8)
    {
        /* USER CODE BEGIN TIM8_MspInit 0 */

        /* USER CODE END TIM8_MspInit 0 */
        /* TIM8 clock enable */
        __HAL_RCC_TIM8_CLK_ENABLE();
        /* USER CODE BEGIN TIM8_MspInit 1 */

        /* USER CODE END TIM8_MspInit 1 */
    }
    else if(tim_baseHandle->Instance==TIM5)
    {
        /* USER CODE BEGIN TIM8_MspInit 0 */

        /* USER CODE END TIM8_MspInit 0 */
        /* TIM8 clock enable */
        __HAL_RCC_TIM5_CLK_ENABLE();
        HAL_NVIC_SetPriority(TIM5_IRQn,5,0);
        HAL_NVIC_EnableIRQ(TIM5_IRQn);

        /* USER CODE BEGIN TIM8_MspInit 1 */

        /* USER CODE END TIM8_MspInit 1 */
    }
//    else if(tim_baseHandle->Instance==TIM3)
//    {
//        /* USER CODE BEGIN TIM8_MspInit 0 */
//        /* USER CODE END TIM8_MspInit 0 */
//        /* TIM8 clock enable */
//        __HAL_RCC_TIM3_CLK_ENABLE();
//
//
//        /* USER CODE BEGIN TIM8_MspInit 1 */
//
//        /* USER CODE END TIM8_MspInit 1 */
//    }
//    else if(tim_baseHandle->Instance==TIM4)
//    {
//        /* USER CODE BEGIN TIM8_MspInit 0 */
//
//        /* USER CODE END TIM8_MspInit 0 */
//        /* TIM8 clock enable */
//        __HAL_RCC_TIM4_CLK_ENABLE();
//
//
//        /* USER CODE BEGIN TIM8_MspInit 1 */
//
//        /* USER CODE END TIM8_MspInit 1 */
//    }
    //HAL_NVIC_EnableIRQ(TIM5_IRQn);
}

void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{

    if(tim_pwmHandle->Instance==TIM2)
    {
        /* USER CODE BEGIN TIM2_MspInit 0 */

        /* USER CODE END TIM2_MspInit 0 */
        /* TIM2 clock enable */
        __HAL_RCC_TIM2_CLK_ENABLE();
        /* USER CODE BEGIN TIM2_MspInit 1 */

        /* USER CODE END TIM2_MspInit 1 */
    }
}

void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{

    GPIO_InitTypeDef GPIO_InitStruct = {0};
    if(tim_encoderHandle->Instance==TIM3)
    {
        /* USER CODE BEGIN TIM3_MspInit 0 */

        /* USER CODE END TIM3_MspInit 0 */
        /* TIM3 clock enable */
        __HAL_RCC_TIM3_CLK_ENABLE();

        __HAL_RCC_GPIOB_CLK_ENABLE();
        /**TIM3 GPIO Configuration
        PB4     ------> TIM3_CH1
        PB5     ------> TIM3_CH2
        */
        GPIO_InitStruct.Pin = M0_ENC_A_Pin|M0_ENC_B_Pin;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

        /* USER CODE BEGIN TIM3_MspInit 1 */
        HAL_NVIC_SetPriority(TIM3_IRQn,0,0);
        HAL_NVIC_EnableIRQ(TIM3_IRQn);
        /* USER CODE END TIM3_MspInit 1 */
    }
    else if(tim_encoderHandle->Instance==TIM4)
    {
        /* USER CODE BEGIN TIM4_MspInit 0 */

        /* USER CODE END TIM4_MspInit 0 */
        /* TIM4 clock enable */
        __HAL_RCC_TIM4_CLK_ENABLE();

        __HAL_RCC_GPIOB_CLK_ENABLE();
        /**TIM4 GPIO Configuration
        PB6     ------> TIM4_CH1
        PB7     ------> TIM4_CH2
        */
        GPIO_InitStruct.Pin = M1_ENC_A_Pin|M1_ENC_B_Pin;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

        /* USER CODE BEGIN TIM4_MspInit 1 */
        HAL_NVIC_SetPriority(TIM4_IRQn,0,0);
        HAL_NVIC_EnableIRQ(TIM4_IRQn);
        /* USER CODE END TIM4_MspInit 1 */
    }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{

    GPIO_InitTypeDef GPIO_InitStruct = {0};
    if(timHandle->Instance==TIM1)
    {
        /* USER CODE BEGIN TIM1_MspPostInit 0 */

        /* USER CODE END TIM1_MspPostInit 0 */
        __HAL_RCC_GPIOB_CLK_ENABLE();
        __HAL_RCC_GPIOA_CLK_ENABLE();
        /**TIM1 GPIO Configuration
        PB13     ------> TIM1_CH1N
        PB14     ------> TIM1_CH2N
        PB15     ------> TIM1_CH3N
        PA8     ------> TIM1_CH1
        PA9     ------> TIM1_CH2
        PA10     ------> TIM1_CH3
        */
        GPIO_InitStruct.Pin = M0_AL_Pin|M0_BL_Pin|M0_CL_Pin;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

        GPIO_InitStruct.Pin = M0_AH_Pin|M0_BH_Pin|M0_CH_Pin;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

        /* USER CODE BEGIN TIM1_MspPostInit 1 */

        /* USER CODE END TIM1_MspPostInit 1 */
    }
    else if(timHandle->Instance==TIM2)
    {
        /* USER CODE BEGIN TIM2_MspPostInit 0 */

        /* USER CODE END TIM2_MspPostInit 0 */

        __HAL_RCC_GPIOB_CLK_ENABLE();
        /**TIM2 GPIO Configuration
        PB10     ------> TIM2_CH3
        PB11     ------> TIM2_CH4
        */
        GPIO_InitStruct.Pin = AUX_L_Pin|AUX_H_Pin;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

        /* USER CODE BEGIN TIM2_MspPostInit 1 */

        /* USER CODE END TIM2_MspPostInit 1 */
    }
    else if(timHandle->Instance==TIM8)
    {
        /* USER CODE BEGIN TIM8_MspPostInit 0 */

        /* USER CODE END TIM8_MspPostInit 0 */

        __HAL_RCC_GPIOA_CLK_ENABLE();
        __HAL_RCC_GPIOB_CLK_ENABLE();
        __HAL_RCC_GPIOC_CLK_ENABLE();
        /**TIM8 GPIO Configuration
        PA7     ------> TIM8_CH1N
        PB0     ------> TIM8_CH2N
        PB1     ------> TIM8_CH3N
        PC6     ------> TIM8_CH1
        PC7     ------> TIM8_CH2
        PC8     ------> TIM8_CH3
        */
        GPIO_InitStruct.Pin = M1_AL_Pin;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
        HAL_GPIO_Init(M1_AL_GPIO_Port, &GPIO_InitStruct);

        GPIO_InitStruct.Pin = M1_AH_Pin|M1_BH_Pin|M1_CH_Pin;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
        HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

        GPIO_InitStruct.Pin = M1_BL_Pin|M1_CL_Pin;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

        /* USER CODE BEGIN TIM8_MspPostInit 1 */

        /* USER CODE END TIM8_MspPostInit 1 */
    }

}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{

    if(tim_baseHandle->Instance==TIM1)
    {
        /* USER CODE BEGIN TIM1_MspDeInit 0 */

        /* USER CODE END TIM1_MspDeInit 0 */
        /* Peripheral clock disable */
        __HAL_RCC_TIM1_CLK_DISABLE();
        /* USER CODE BEGIN TIM1_MspDeInit 1 */

        /* USER CODE END TIM1_MspDeInit 1 */
    }
    else if(tim_baseHandle->Instance==TIM8)
    {
        /* USER CODE BEGIN TIM8_MspDeInit 0 */

        /* USER CODE END TIM8_MspDeInit 0 */
        /* Peripheral clock disable */
        __HAL_RCC_TIM8_CLK_DISABLE();
        /* USER CODE BEGIN TIM8_MspDeInit 1 */

        /* USER CODE END TIM8_MspDeInit 1 */
    }
}

void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
{

    if(tim_pwmHandle->Instance==TIM2)
    {
        /* USER CODE BEGIN TIM2_MspDeInit 0 */

        /* USER CODE END TIM2_MspDeInit 0 */
        /* Peripheral clock disable */
        __HAL_RCC_TIM2_CLK_DISABLE();
        /* USER CODE BEGIN TIM2_MspDeInit 1 */

        /* USER CODE END TIM2_MspDeInit 1 */
    }
}

void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
{

    if(tim_encoderHandle->Instance==TIM3)
    {
        /* USER CODE BEGIN TIM3_MspDeInit 0 */

        /* USER CODE END TIM3_MspDeInit 0 */
        /* Peripheral clock disable */
        __HAL_RCC_TIM3_CLK_DISABLE();

        /**TIM3 GPIO Configuration
        PB4     ------> TIM3_CH1
        PB5     ------> TIM3_CH2
        */
        HAL_GPIO_DeInit(GPIOB, M0_ENC_A_Pin|M0_ENC_B_Pin);

        /* USER CODE BEGIN TIM3_MspDeInit 1 */

        /* USER CODE END TIM3_MspDeInit 1 */
    }
    else if(tim_encoderHandle->Instance==TIM4)
    {
        /* USER CODE BEGIN TIM4_MspDeInit 0 */

        /* USER CODE END TIM4_MspDeInit 0 */
        /* Peripheral clock disable */
        __HAL_RCC_TIM4_CLK_DISABLE();

        /**TIM4 GPIO Configuration
        PB6     ------> TIM4_CH1
        PB7     ------> TIM4_CH2
        */
        HAL_GPIO_DeInit(GPIOB, M1_ENC_A_Pin|M1_ENC_B_Pin);

        /* USER CODE BEGIN TIM4_MspDeInit 1 */

        /* USER CODE END TIM4_MspDeInit 1 */
    }
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
